Heavy-load high-rigidity medical mechanical arm
By designing a medical robot arm that uses a combination of multiple joint structures, the problems of complex structure, large area and limited adjustment range in the prior art are solved, and the plane rotation and vertical lifting and lowering adjustment of the treatment bed are realized, which improves the treatment accuracy and patient safety.
Patent Information
- Application Number
- CN202421349687.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-13
- Publication Date
- 2025-04-15
- Estimated Expiration
- 2034-06-13
AI Technical Summary
In radiation therapy, existing medical robotic arms are difficult to achieve plane rotation adjustment and vertical lifting adjustment of the treatment bed due to their complex structure, large area and limited adjustment range, which affects the treatment accuracy and patient safety.
A medical robot arm with high load and high rigidity was designed, using a combined structure of base, one-axis joint, horizontal arm, two-axis joint, rotating arm, three-axis joint, pitch arm, four-axis joint, flip arm, five-axis joint, pitch seat and six-axis joint. The horizontal rotation and translation of the treatment bed is achieved through the one-axis joint, two-axis joint and six-axis joint, vertical height adjustment is achieved through the three-axis joint and five-axis joint, and the flip of the treatment bed is achieved through the four-axis joint.
The plane rotation and vertical lifting adjustment of the treatment bed are achieved, which reduces the width and size of the robotic arm, has a smaller volume and a larger arm span, ensuring stability and safety during the treatment process, and reducing working noise.
Smart Images
Figure CN222752442U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of medical robots, in particular to a medical mechanical arm with large load and high rigidity. Background Art
[0002] Radiotherapy is one of the most important means of tumor treatment. Through the coordination of medical electron linear accelerator and treatment bed, the patient's posture is adjusted, and the active tumor target area such as the chest and abdomen is accurately aligned with the radiation to accurately kill cancer cells. During the treatment process, the accuracy of positioning the patient's tumor target area is extremely high, and the mechanical arm that controls the movement of the treatment bed is required to be flexible and able to drive the treatment bed to move the patient without blind spots. In order to adjust the height, adjust the distance between the target area and the radiation, and facilitate patients to get on and off the treatment bed, the robot treatment bed in the prior art needs to be equipped with a vertical lifting structure, which results in a complex overall structure of the mechanical arm, a large footprint, and a limited adjustment range. Utility Model Content
[0003] The purpose of the utility model is to provide a large-load and high-rigidity medical mechanical arm, which can simultaneously realize the plane rotation adjustment and vertical lifting adjustment of the treatment bed, reduce the width size, have a smaller volume and a larger arm span, achieve light weight, large load and high rigidity, ensure stability during treatment, and reduce working noise.
[0004] The above technical objectives of the utility model are achieved through the following technical solutions:
[0005] A medical mechanical arm with large load and high rigidity, comprising a base, a one-axis joint, a horizontal arm, a two-axis joint, a rotating arm, a three-axis joint, a pitch arm, a four-axis joint, a flip arm, a five-axis joint, a pitch seat and a six-axis joint, wherein the output end of the six-axis joint can be detachably mounted on a treatment bed through a mounting seat;
[0006] The horizontal arm is arranged horizontally and its two ends are respectively close to the base and the rotating arm. One end of the horizontal arm close to the base is located above the base and is connected to the base for positioning and rotation through a single-axis joint. One end of the horizontal arm close to the rotating arm is located below the rotating arm and is connected to the rotating arm for positioning and rotation through a double-axis joint. The rotation axes of the single-axis joint and the double-axis joint are both arranged vertically.
[0007] The side wall of the rotating arm is rotatably connected to one end of the pitch arm through a three-axis joint, the rotation axis of the three-axis joint is horizontally arranged, the three-axis joint is a single-motor dual-reducer structure and is provided with a first brake; when the two-axis joint drives the rotating arm to rotate until the length direction of the pitch arm is parallel to the length direction of the horizontal arm, the rotation axis of the three-axis joint is perpendicular to the length direction of the horizontal arm;
[0008] One end of the pitch arm away from the rotating arm is rotatably connected to the flip arm through a four-axis joint, and one end of the flip arm away from the four-axis joint is rotatably connected to the pitch seat through a five-axis joint, and the five-axis joint is provided with a second brake; the rotation axis of the four-axis joint is arranged along the length direction of the pitch arm, the rotation axis of the five-axis joint is parallel to the rotation axis of the three-axis joint, and the rotation axes of the three-axis joint, the four-axis joint and the five-axis joint are located in the same plane;
[0009] The six-axis joint is positioned and rotatably mounted on one end of the pitch seat away from the five-axis joint, the rotation axis of the six-axis joint is perpendicular to the rotation axis of the five-axis joint and is always arranged vertically in the working state;
[0010] The one-axis joint, the two-axis joint and the six-axis joint cooperate to realize the rotation and translation of the treatment bed in the horizontal plane, the three-axis joint and the five-axis joint cooperate to realize the height adjustment of the treatment bed in the vertical direction and the treatment bed always remains horizontal, and the four-axis joint realizes the flipping of the treatment bed.
[0011] By adopting the above technical solution, the treatment bed is always in a horizontal state in the working state. Under the cooperation of the one-axis joint, the two-axis joint and the six-axis joint, the treatment bed is driven to perform horizontal rotation and translation movements to achieve precise alignment between the patient's tumor target area and the radiation. Under the cooperation of the three-axis joint and the five-axis joint, the pitch arm and the pitch seat simultaneously perform pitch movements to achieve the height adjustment of the treatment bed in the vertical direction. There is no need to set up an additional vertical drive structure for vertical height adjustment, which effectively simplifies the structure of the mechanical arm, reduces the floor space, and increases the adjustment range. In the process of adjusting the height of the treatment bed in cooperation with the three-axis joint and the five-axis joint, the rotation axis of the six-axis joint is always set vertically to ensure that the treatment bed always remains horizontal, which is convenient for patients to get on and off the treatment bed. Among them, the three-axis joint adopts a single-motor dual-reducer structure to transmit higher torque, achieve large load and high rigidity of the three-axis joint, and effectively reduce the volume of the three-axis joint, achieve a compact structure, and have a smaller volume and a larger arm span. In addition, the first brake of the three-axis joint and the second brake of the five-axis joint can perform emergency braking when the three-axis joint and the five-axis joint fail to ensure the safety of the patient. The treatment bed can be detachably mounted on the output end of the six-axis joint through a mounting base. Different treatment beds can be replaced according to different treatment situations, thereby improving the applicability of the robotic arm. The treatment bed can be flipped under the action of the four-axis joint, which facilitates the installation and replacement of the treatment bed.
[0012] Furthermore, the three-axis joint includes an input shaft, two third RV reducers and a third servo motor, the input shaft is coaxially arranged with the rotation axis of the three-axis joint, and the first brake is arranged at one end of the input shaft; the two third RV reducers are symmetrically installed at both ends of the input shaft and coaxially arranged with the input shaft, and the input shaft is provided with two input gears coaxially arranged with it and respectively meshed with the planetary gears of the two third RV reducers; the fixed ends of the two third RV reducers are far away from each other, the rotating arm is connected to the fixed ends of the two third RV reducers through two lugs, and the pitch arm is connected to the output ends of the two third RV reducers through a lug; the third servo motor is arranged in the pitch arm and is located on one side of the two third RV reducers, the output shaft of the third servo motor is parallel to the input shaft and a transmission assembly is provided between the input shaft, and the transmission assembly is located between the two third RV reducers.
[0013] By adopting the above technical solution, the third servo motor drives the input shaft to rotate synchronously through the transmission assembly when working, and the two third RV reducers are driven to work synchronously under the meshing action of the input gear and the two third RV reducer planetary gears, so as to realize the driving of the pitch arm and its front end to pitch, and the three-axis joint has three-stage reduction, a wide range of reduction ratios, and safer transmission. When a fault occurs, the first brake emergency brake ensures safety. Using a third servo motor to drive two third RV reducers to work synchronously, on the one hand, a larger torque is output, the load and stiffness of the three-axis joint are increased, and the two third RV reducers are driven by the same input shaft, which effectively ensures the coaxiality and improves the synchronization accuracy of the two third RV reductions; on the other hand, the third servo motor is set on one side of the input shaft and located in the pitch arm, so that the third servo motor is built-in. Compared with the coaxial setting, it can not only greatly reduce the axial length of the three-axis joint, realize small volume and compact structure, but also avoid the third servo motor from being exposed and making a large noise, reduce the treatment noise and avoid affecting the patient's mood. At the same time, the three-axis joint can be wired internally to meet the closed requirements of high-demand application scenarios, reduce environmental factors and improve safety. In addition, the third servo motor and the input shaft are transmitted through a transmission assembly, and a transmission stage is added to obtain a wider range of reduction ratios.
[0014] Furthermore, the transmission assembly includes a driving gear that is detachably fixedly mounted on one end of the output shaft of the third servo motor and a driven gear that is detachably fixedly mounted on the input shaft, the driving gear is coaxially arranged with the output shaft of the third servo motor, the driven gear is coaxially arranged with the input shaft and meshes with the driving gear; raised reinforcing step rings are provided on both sides of the driving gear, and the reinforcing step rings are coaxially arranged with the driving gear.
[0015] By adopting the above technical solution, the third servo motor drives the driving gear to rotate, and under the meshing action of the driving gear and the driven gear, the input shaft is driven to rotate, so as to drive the two third RV reducers to rotate synchronously. The driving gear and the driven gear are respectively detachably fixed on the output shaft and the input shaft of the third servo motor. Different driving gears and driven gears can be replaced according to actual use requirements to adjust the first-stage transmission reduction ratio. In addition, reinforcing step rings are set on both sides of the driving gear to increase the rigidity and improve the service life of the driving gear.
[0016] Furthermore, mounting bearings are installed between both sides of the driven gear and the input shaft, first support bearings are installed between both ends of the input shaft and the fixed ends of the two third RV reducers, and second support bearings are installed between the input shaft and the output ends of the two third RV reducers.
[0017] By adopting the above technical solution, the mounting bearing ensures the installation and transmission accuracy between the driven gear and the input shaft, and the first support bearing and the second support bearing ensure the installation and transmission accuracy between the input shaft and the two third RV reducers, thereby ensuring the ability to transmit torque, reducing wear and increasing service life.
[0018] Furthermore, the input shaft is provided with an increasing diameter shaft located between the driven gear and the third RV reducer away from the driving gear. The increasing diameter shaft is coaxially arranged with the input shaft and formed integrally. A third support bearing is provided between the outer wall of one end of the increasing diameter shaft away from the driven gear and the lug of the pitch arm.
[0019] By adopting the above technical solution, the increasing diameter shaft coaxially arranged and integrally formed with the input shaft enables the input shaft as a whole to have different diameter sections, which not only ensures that the central hole diameter of the third RV reducer does not need to be changed when the input shaft is connected to the two third RV reducers, thereby obtaining a small volume of the third RV reducer, but also ensures the overall strength of the input shaft, improves its torque transmission capacity and service life. Among them, the third support bearing further realizes the support and positioning of the input shaft, ensuring the working stability and torque transmission effect of the input shaft.
[0020] Furthermore, the one-axis joint includes a first RV reducer, a first rotating shaft and a first servo motor arranged in the horizontal arm, the fixed end of the first RV reducer is connected to the base, and the output end is connected to the horizontal arm; the first RV reducer is coaxially arranged with the first rotating shaft, the first servo motor is arranged on one side of the first rotating shaft and its output shaft is parallel to the first rotating shaft; the output shaft of the first servo motor is vertically downward and meshed with the first rotating shaft gear for transmission, and the first rotating shaft and the planetary gear of the first RV reducer are meshed for transmission.
[0021] By adopting the above technical solution, the first servo motor drives the first rotating shaft to work through gear meshing transmission, and the first rotating shaft drives the first RV reducer to work through gear meshing transmission, which not only makes the one-axis joint have three-stage reduction transmission as a whole, improving the reduction ratio range, but also makes the one-axis joint structure more compact compared to the coaxial arrangement of the first servo motor and the first RV reducer, and reduces the axial length of the one-axis joint without changing the volume of the first servo motor and the first RV reducer. Among them, the first RV reducer and the first servo motor are built into the horizontal arm, which is convenient for the built-in routing of the one-axis joint, meets the closed requirements of high-demand application scenarios, reduces interference from environmental factors, and improves safety.
[0022] Furthermore, the two-axis joint includes a second RV reducer, a second rotating shaft and a second servo motor arranged in the rotating arm, the fixed end of the second RV reducer is connected to the horizontal arm, and the output end is connected to the rotating arm; the second RV reducer is coaxially arranged with the second rotating shaft, the second servo motor is arranged on one side of the second rotating shaft and its output shaft is parallel to the second rotating shaft; the output shaft of the second servo motor is vertically downward and meshed with the second rotating shaft gear for transmission, and the second rotating shaft and the planetary gear of the second RV reducer are meshed with gears for transmission.
[0023] By adopting the above technical solution, the second servo motor drives the second rotating shaft to work through gear meshing transmission, and the second rotating shaft drives the second RV reducer to work through gear meshing transmission, which not only makes the two-axis joint as a whole have three-stage reduction transmission and improves the reduction ratio range, but also makes the two-axis joint structure more compact compared to the coaxial setting of the second servo motor and the second RV reducer, and reduces the axial length of the two-axis joint without changing the volume of the second servo motor and the second RV reducer. Among them, the second RV reducer and the second servo motor are built into the rotating arm, which is convenient for the built-in routing of the two-axis joint, meets the closed requirements of high-demand application scenarios, reduces interference from environmental factors, and improves safety.
[0024] Furthermore, the four-axis joint includes a fourth RV reducer, a fourth rotating shaft and a fourth servo motor, the fixed end of the fourth RV reducer is connected to the pitch arm, and the output end is connected to the flip arm; the fourth RV reducer is coaxially arranged with the fourth rotating shaft, the fourth servo motor is arranged in the pitch arm, and its output shaft is located on one side of the fourth rotating shaft and parallel to the fourth rotating shaft; the output shaft of the fourth servo motor is gear-engaged with the fourth rotating shaft, and the fourth rotating shaft and the planetary gear of the fourth RV reducer are gear-engaged with each other for transmission.
[0025] By adopting the above technical solution, the fourth servo motor drives the fourth rotating shaft to work through gear meshing transmission, and the fourth rotating shaft drives the fourth RV reducer to work through gear meshing transmission, which not only makes the four-axis joint as a whole have three-stage reduction transmission and improves the reduction ratio range, but also makes the four-axis joint structure more compact compared to the coaxial setting of the fourth servo motor and the fourth RV reducer, and reduces the axial length of the four-axis joint without changing the volume of the fourth servo motor and the fourth RV reducer. Among them, the fourth servo motor is built into the pitch arm, which makes rational use of the space of the pitch arm and facilitates the built-in routing of the four-axis joint, meets the closed requirements of high-demand application scenarios, reduces interference from environmental factors, and improves safety.
[0026] Furthermore, the five-axis joint includes a fifth RV reducer, a fifth rotating shaft and a fifth servo motor, lugs are provided on both sides of the pitch seat, one lug is connected to the output end of the fifth RV reducer, the other lug is rotatably connected to the flip arm, and the fixed end of the fifth RV reducer is connected to the flip arm; the fifth RV reducer is coaxially arranged with the fifth rotating shaft, the second brake is arranged at one end of the fifth rotating shaft close to the fixed end of the fifth RV reducer, the fifth servo motor is arranged in the flip arm and is located between the fifth rotating shaft and the four-axis joint, the output shaft of the fifth servo motor is parallel to the fifth rotating shaft and the two are driven by a belt, and the fifth rotating shaft and the planetary gear of the fifth RV reducer are gear-engaged for transmission.
[0027] By adopting the above technical solution, the fifth servo motor drives the fifth rotating shaft through belt transmission, and the fifth rotating shaft drives the fifth RV reducer through gear meshing transmission, which not only makes the five-axis joint have three-stage reduction transmission as a whole, improving the reduction ratio range, but also makes the five-axis joint structure more compact and reduces the volume of the flip arm compared to the coaxial setting of the fifth servo motor and the fifth RV reducer. Among them, the fifth servo motor is built into the flip arm, which is convenient for the built-in routing of the five-axis joint, meets the closed requirements of high-demand application scenarios, reduces interference from environmental factors, and improves safety.
[0028] Furthermore, the six-axis joint includes a sixth RV reducer located on the side of the pitch seat away from its lug and a sixth servo motor located between the two lugs of the pitch seat, and the sixth RV reducer is located above the sixth servo motor in a working state; the sixth RV reducer and the sixth servo motor are coaxially arranged, and the output shaft of the sixth servo motor and the planetary gear of the sixth RV reducer are gear-engaged for transmission.
[0029] By adopting the above technical solution, the sixth servo motor drives the sixth RV reducer to rotate through gear meshing transmission, thereby driving the treatment bed to rotate through the mounting seat, simplifying the structure of the end of the robotic arm, and improving the positioning accuracy of the treatment bed.
[0030] In summary, the utility model has the following beneficial effects:
[0031] 1. In the utility model, a base, a one-axis joint, a horizontal arm, a two-axis joint, a rotating arm, a three-axis joint, a pitch arm, a four-axis joint, a flip arm, a five-axis joint, a pitch seat and a six-axis joint are provided. Under the cooperation of the one-axis joint, the two-axis joint and the six-axis joint, the treatment bed is driven to perform horizontal rotation and translation movements to achieve accurate alignment of the patient's tumor target area with the radiation; under the cooperation of the three-axis joint and the five-axis joint, the pitch arm and the pitch seat simultaneously perform a pitch action to achieve the height adjustment of the treatment bed in the vertical direction, without the need to set up an additional vertical drive structure for the height adjustment in the vertical direction, effectively simplifying the structure of the mechanical arm, reducing the floor space and increasing the adjustment range; the treatment bed can be detachably installed at the output end of the six-axis joint through the mounting seat, and different treatment beds can be replaced according to different treatment conditions, thereby increasing the application range of the mechanical arm, and the treatment bed can be flipped under the action of the four-axis joint, which is convenient for the installation and replacement of the treatment bed;
[0032] 2. The three-axis joint of the utility model adopts a single-motor dual-reducer structure, including an input shaft, two third RV reducers and a third servo motor. The third servo motor is arranged on one side of the input shaft in parallel with the two third RV reducers, and the third servo motor is built in the pitch arm, so that the three-axis joint transmits higher torque, realizes large load and high rigidity of the three-axis joint, and compared with the coaxial setting, it can not only greatly reduce the axial length of the three-axis joint, realize small volume and compact structure, and have a larger arm span, but also avoid the third servo motor from being exposed and making loud noise, so as to avoid the noise affecting the patient's mood during treatment;
[0033] 3. The one-axis joint, two-axis joint, three-axis joint, four-axis joint and five-axis joint in the utility model all have three-stage reduction ratios, a wide range of reduction ratios, stable transmission, and can be internally routed to meet the closed requirements of high-demand application scenarios, reduce interference from environmental factors, and improve safety;
[0034] 4. The three-axis joint and the five-axis joint in the utility model are mainly used to adjust the height position of the treatment bed and bear a large bending moment. The first brake set on the three-axis joint and the second brake on the five-axis joint can perform emergency braking when the three-axis joint and the five-axis joint fail to ensure the safety of the patient. BRIEF DESCRIPTION OF THE DRAWINGS
[0035] Figure 1 It is a schematic diagram of the overall structure of a medical robot arm with large load and high rigidity;
[0036] Figure 2 It is a schematic diagram of the plane rotation and translation operation of a large-load and high-rigidity medical robot arm;
[0037] Figure 3 It is a schematic diagram of the vertical lifting operation of a large-load and high-rigidity medical robotic arm;
[0038] Figure 4 It is a longitudinal plane cross-sectional view of a medical robot arm with large load and high rigidity;
[0039] Figure 5 It is a transverse plane cross-sectional view of a medical robot arm with large load and high rigidity;
[0040] Figure 6 It is a schematic diagram of the structure of a three-axis joint in a large-load and high-rigidity medical robotic arm.
[0041] In the figure, 1, base; 2, one-axis joint; 21, first RV reducer; 22, first rotating shaft; 23, first servo motor; 3, horizontal arm; 4, two-axis joint; 41, second RV reducer; 42, second rotating shaft; 43, second servo motor; 5, rotating arm; 6, three-axis joint; 61, input shaft; 611, input gear; 612, diameter-increasing shaft; 62, third RV reducer; 63, third servo motor; 631, driving gear; 632, enhanced step ring; 64, driven gear; 65, first brake; 66, safety Mounting bearing; 67, first support bearing; 68, second support bearing; 69, third support bearing; 7, pitch arm; 8, four-axis joint; 81, fourth RV reducer; 82, fourth rotating axis; 83, fourth servo motor; 9, flip arm; 10, five-axis joint; 101, fifth RV reducer; 102, fifth rotating axis; 103, fifth servo motor; 104, second brake; 11, pitch seat; 12, six-axis joint; 121, sixth RV reducer; 122, sixth servo motor; 13, mounting seat; 14, treatment bed. DETAILED DESCRIPTION
[0042] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.
[0043] A medical robot arm with large load and high rigidity, such as Figure 1 As shown, it includes a base 1, a one-axis joint 2, a horizontal arm 3, a two-axis joint 4, a rotating arm 5, a three-axis joint 6, a pitch arm 7, a four-axis joint 8, a flip arm 9, a five-axis joint 10, a pitch seat 11 and a six-axis joint 12, which are arranged in sequence. The output end of the six-axis joint 12 can be detachably mounted on a treatment bed 14 through a mounting seat 13. The treatment bed 14 always remains in a horizontal state during operation. Figure 2 and Figure 3As shown, the one-axis joint 2, the two-axis joint 4 and the six-axis joint 12 cooperate to realize the rotation and translation of the treatment bed 14 in the horizontal plane, the three-axis joint 6 and the five-axis joint 10 cooperate to realize the height adjustment of the treatment bed 14 in the vertical direction and the treatment bed 14 always remains horizontal, and the four-axis joint 8 realizes the flipping of the treatment bed 14.
[0044] Specifically, Figure 1 and Figure 4 As shown, the horizontal arm 3 is horizontally arranged and its two ends are respectively close to the base 1 and the rotating arm 5. The end of the horizontal arm 3 close to the base 1 is located above the base 1 and is connected to the base 1 for positioning and rotation through a single-axis joint 2. The end of the horizontal arm 3 close to the rotating arm 5 is located below the rotating arm 5 and is connected to the rotating arm 5 for positioning and rotation through a two-axis joint 4. The rotation axes of the single-axis joint 2 and the two-axis joint 4 are both vertically arranged.
[0045] like Figure 4 As shown, the one-axis joint 2 includes a first RV reducer 21, a first rotating shaft 22 and a first servo motor 23 arranged in the horizontal arm 3, the fixed end of the first RV reducer 21 is connected to the base 1, and the output end is connected to the horizontal arm 3. The first RV reducer 21 is coaxially arranged with the first rotating shaft 22 and the axis is arranged vertically, the first servo motor 23 is arranged on one side of the first rotating shaft 22 and its output shaft is parallel to the first rotating shaft 22. The output shaft of the first servo motor 23 is vertically downward and gear-engaged with the first rotating shaft 22, and the first rotating shaft 22 and the planetary gear of the first RV reducer 21 are gear-engaged for transmission.
[0046] like Figure 4 As shown, the two-axis joint 4 includes a second RV reducer 41, a second rotating shaft 42, and a second servo motor 43 arranged in the rotating arm 5. The fixed end of the second RV reducer 41 is connected to the horizontal arm 3, and the output end is connected to the rotating arm 5. The second RV reducer 41 is coaxially arranged with the second rotating shaft 42 and the axis is arranged vertically. The second servo motor 43 is arranged on one side of the second rotating shaft 42 and its output shaft is parallel to the second rotating shaft 42. The output shaft of the second servo motor 43 is vertically downward and gear-engaged with the second rotating shaft 42, and the second rotating shaft 42 and the planetary gear of the second RV reducer 41 are gear-engaged for transmission.
[0047] like Figure 2 and Figure 4 As shown, the one-axis joint 2 and the two-axis joint 4 rotate around the first rotating axis 22 and the second rotating axis 42 respectively, driving the treatment bed 14 to rotate and move in the horizontal plane, realizing the precise positioning of the patient's tumor target area and the radiation. Among them, the one-axis joint 2 and the two-axis joint 4 both have a three-stage reduction transmission, with a large adjustable range of reduction ratio, and the first servo motor 23 and the second servo motor 43 are built-in and routed from the inside, meeting the closed requirements of high-demand application scenarios, reducing interference from environmental factors, and improving safety.
[0048] like Figure 1 and Figure 4 As shown, the side wall of the rotating arm 5 is rotatably connected to one end of the pitch arm 7 through a three-axis joint 6. The rotation axis of the three-axis joint 6 is set horizontally. The three-axis joint 6 is a single-motor dual-reducer structure, which can output a larger torque and improve the load and stiffness of the three-axis joint 6. When the two-axis joint 4 drives the rotating arm 5 to rotate until the length direction of the pitch arm 7 is parallel to the length direction of the horizontal arm 3, the rotation axis of the three-axis joint 6 is perpendicular to the length direction of the horizontal arm 3. The end of the pitch arm 7 away from the rotating arm 5 is rotatably connected to the flip arm 9 through a four-axis joint 8, and the end of the flip arm 9 away from the four-axis joint 8 is rotatably connected to the pitch seat 11 through a five-axis joint 10; the rotation axis of the four-axis joint 8 is set along the length direction of the pitch arm 7, and the rotation axis of the five-axis joint 10 is parallel to the rotation axis of the three-axis joint 6, and the rotation axes of the three-axis joint 6, the four-axis joint 8 and the five-axis joint 10 are located in the same plane.
[0049] like Figure 3 As shown, under the cooperation of the three-axis joint 6 and the five-axis joint 10, the pitch arm 7 and the pitch seat 11 simultaneously perform pitching movements to achieve the height adjustment of the treatment bed 14 in the vertical direction, without the need to set up an additional vertical drive structure for vertical height adjustment, effectively simplifying the mechanical arm structure, reducing the floor space, and increasing the adjustment range. Under the action of the four-axis joint 8, the treatment bed 14 can be flipped, which is convenient for the installation and replacement of the treatment bed 14.
[0050] Specifically, Figure 5 and Figure 6 As shown, the three-axis joint 6 includes an input shaft 61, two third RV reducers 62 and a third servo motor 63. The input shaft 61 is coaxially arranged with the rotation axis of the three-axis joint 6, that is, the three-axis joint 6 rotates around the axis of the input shaft 61. The two third RV reducers 62 are symmetrically installed at both ends of the input shaft 61 and are coaxially arranged with the input shaft 61. The input shaft 61 is provided with two input gears 611 coaxially arranged with it and respectively meshed with the planetary gears of the two third RV reducers 62. The fixed ends of the two third RV reducers 62 are far away from each other, the rotating arm 5 is connected to the fixed ends of the two third RV reducers 62 through two lugs, and the pitch arm 7 is connected to the output ends of the two third RV reducers 62 through a lug. The input shaft 61 drives the two third RV reducers 62 to rotate synchronously through the meshing of the input gear 611 with the planetary gear, thereby driving the pitch arm 7 to perform a pitching action through the two third RV reducers 62.
[0051] like Figure 5 and Figure 6As shown, the third servo motor 63 is arranged in the pitch arm 7 and is located on one side of the two third RV reducers 62. The output shaft of the third servo motor 63 is parallel to the input shaft 61 and a transmission assembly is arranged between the output shaft of the third servo motor 63 and the input shaft 61. The transmission assembly is located between the two third RV reducers 62. The transmission assembly includes a driving gear 631 detachably fixedly mounted on one end of the output shaft of the third servo motor 63 and a driven gear 64 detachably fixedly mounted on the input shaft 61. The driving gear 631 is coaxially arranged with the output shaft of the third servo motor 63, and the driven gear 64 is coaxially arranged with the input shaft 61 and meshes with the driving gear 631.
[0052] like Figure 5 and Figure 6 As shown, the third servo motor 63 drives the driving gear 631 to rotate, and under the meshing action of the driving gear 631 and the driven gear 64, the input shaft 61 is driven to rotate, so as to drive the two third RV reducers 62 to rotate synchronously, so that the three-axis joint 6 rotates around the axis of the input shaft 61. Among them, the third servo motor 63 and the input shaft 61 are transmitted through the transmission assembly, and a first-level transmission is added to obtain a wider range of reduction ratios. Different driving gears 631 and driven gears 64 can also be replaced according to actual use requirements to adjust the first-stage transmission reduction ratio.
[0053] like Figure 5 and Figure 6 As shown, a third servo motor 63 is used to drive two third RV reducers 62 to work synchronously. On the one hand, a greater torque is output to increase the load and stiffness of the three-axis joint 6, and the two third RV reducers 62 are driven by the same input shaft 61, which effectively ensures the coaxiality and improves the synchronization accuracy of the two third RV reducers; on the other hand, the third servo motor 63 is arranged on one side of the input shaft 61 and is located in the pitch arm 7, so that the third servo motor 63 is built-in. Compared with the coaxial setting, it can not only greatly reduce the axial length of the three-axis joint 6, achieve a small volume and compact structure, but also avoid the third servo motor 63 from being exposed and making a loud noise. The built-in third servo motor 63 also realizes the internal routing of the three-axis joint 6, meets the closed requirements of high-demand application scenarios, reduces interference from environmental factors, and improves safety.
[0054] like Figure 6As shown, in this embodiment, protruding reinforcing step rings 632 are provided on both sides of the driving gear 631, and the reinforcing step rings 632 are coaxially arranged with the driving gear 631, and the reinforcing step rings 632 are used to increase the rigidity of the driving gear 631, thereby improving the service life of the driving gear 631. In addition, an increasing diameter shaft 612 is provided outside the input shaft 61, which is located between the driven gear 64 and the third RV reducer 62 away from the driving gear 631. The increasing diameter shaft 612 is coaxially arranged with the input shaft 61 and is integrally formed, so that the input shaft 61 as a whole has different diameter sections, which not only ensures that the middle hole diameter of the third RV reducer 62 does not need to be changed when the input shaft 61 and the two third RV reducers 62 are connected, thereby obtaining a small volume of the third RV reducer 62, but also ensures the overall strength of the input shaft 61, thereby improving its torque transmission capacity and service life.
[0055] like Figure 6 As shown, in order to further improve the working stability of the three-axis joint 6, mounting bearings 66 are installed between the two sides of the driven gear 64 and the input shaft 61, a first support bearing 67 is installed between the two ends of the input shaft 61 and the fixed ends of the two third RV reducers 62, a second support bearing 68 is installed between the input shaft 61 and the output ends of the two third RV reducers 62, and a third support bearing 69 is provided between the outer wall of the end of the increasing diameter shaft 612 away from the driven gear 64 and the lug of the pitch arm 7.
[0056] like Figure 1 and Figure 5 As shown, the four-axis joint 8 includes a fourth RV reducer 81, a fourth rotating shaft 82 and a fourth servo motor 83. The fixed end of the fourth RV reducer 81 is connected to the pitch arm 7, and the output end is connected to the flip arm 9. The fourth RV reducer 81 is coaxially arranged with the fourth rotating shaft 82, and the fourth servo motor 83 is arranged in the pitch arm 7, and its output shaft is located on one side of the fourth rotating shaft 82 and parallel to the fourth rotating shaft 82. The output shaft of the fourth servo motor 83 is gear-engaged with the fourth rotating shaft 82, and the fourth rotating shaft 82 and the planetary gear of the fourth RV reducer 81 are gear-engaged. The four-axis joint 8 rotates around the axis of the fourth rotating shaft 82 to realize the flipping of the treatment bed 14 driven by the flip arm 9, which is convenient for the installation and replacement of the treatment bed 14. Among them, the four-axis joint 8 has a three-stage reduction transmission as a whole, which increases the reduction ratio range, has a more compact structure, and reasonably utilizes the space of the pitch arm 7. The built-in fourth RV reduction facilitates internal wiring, meets the closed requirements of high-demand application scenarios, reduces interference from environmental factors, and improves safety.
[0057] like Figure 1 and Figure 5As shown, the five-axis joint 10 includes a fifth RV reducer 101, a fifth rotating shaft 102 and a fifth servo motor 103. Lugs are provided on both sides of the pitch seat 11, one of which is connected to the output end of the fifth RV reducer 101, and the other is rotatably connected to the flip arm 9, and the fixed end of the fifth RV reducer 101 is connected to the flip arm 9; the fifth RV reducer 101 is coaxially arranged with the fifth rotating shaft 102, the fifth servo motor 103 is arranged in the flip arm 9 and is located between the fifth rotating shaft 102 and the four-axis joint 8, the output shaft of the fifth servo motor 103 is parallel to the fifth rotating shaft 102 and the two are driven by a belt, and the fifth rotating shaft 102 and the planetary gears of the fifth RV reducer 101 are meshed with gears. The five-axis joint 10 has a three-stage reduction transmission as a whole, which increases the reduction ratio range, has a more compact structure, and reasonably utilizes the space of the pitch arm 7. The built-in fifth RV reduction facilitates internal wiring, meets the closed requirements of high-demand application scenarios, reduces interference from environmental factors, and improves safety.
[0058] like Figure 3 and Figure 5 As shown, the five-axis joint 10 rotates around the fifth rotation axis 102, and cooperates with the three-axis joint 6 to rotate around the input axis 61. The pitch arm 7 and the pitch seat 11 simultaneously perform a pitch action to achieve vertical height adjustment of the treatment bed 14, which is convenient for patients to get on and off the treatment bed 14. During this process, the treatment bed 14 always remains in a horizontal state.
[0059] like Figure 1 and Figure 4 As shown, in this embodiment, the six-axis joint 12 is positioned and rotatably installed at one end of the pitch seat 11 away from the five-axis joint 10, and the rotation axis of the six-axis joint 12 is perpendicular to the rotation axis of the five-axis joint 10 and is always arranged vertically in the working state. Specifically, the six-axis joint 12 includes a sixth RV reducer 121 located on the side of the pitch seat 11 away from its lug and a sixth servo motor 122 located between the two lugs of the pitch seat 11. In the working state, the sixth RV reducer 121 is located above the sixth servo motor 122. The sixth RV reducer 121 and the sixth servo motor 122 are coaxially arranged, and the output shaft of the sixth servo motor 122 and the planetary gear of the sixth RV reducer 121 are gear-engaged for transmission. The six-axis joint 12 cooperates with the one-axis joint 2 and the two-axis joint 4 to adjust the horizontal position of the treatment bed 14 to ensure the positioning accuracy of the treatment bed 14.
[0060] Among them, in order to ensure the safety of each joint, the first servo motor 23 in the one-axis joint 2, the second servo motor 43 in the two-axis joint 4, the third servo motor 63 in the three-axis joint 6, the fourth servo motor 83 in the four-axis joint 8, the fifth servo motor 103 in the five-axis joint 10 and the sixth servo motor 122 in the six-axis joint 12 are each equipped with a brake, and corresponding braking is performed in the event of a fault. The motor with a brake is a prior art and is not shown in the attached drawings. In this embodiment, since the three-axis joint 6 and the five-axis joint 10 are mainly used to adjust the height position of the treatment bed 14 and bear a large bending moment, in order to further ensure safety, Figure 5 and Figure 6 As shown, a first brake 65 is additionally installed at one end of the input shaft 61, and a second brake 104 is installed at one end of the fifth rotating shaft 102 close to the fixed end of the fifth RV reducer 101, which is equivalent to the three-axis joint 6 and the five-axis joint 10 each having two brakes. When the three-axis joint 6 and / or the five-axis joint 10 fails, the first brake 65 and / or the second brake 104 can cooperate with the motor brake to perform emergency braking to ensure the stability of the treatment bed 14 and the safety of the patient.
[0061] Working principle and usage of the utility model:
[0062] With the cooperation of the one-axis joint 2, the two-axis joint 4 and the six-axis joint 12, the treatment bed 14 is driven to perform horizontal rotation and translation movements to achieve precise alignment between the patient's tumor target area and the radiation. With the cooperation of the three-axis joint 6 and the five-axis joint 10, the pitch arm 7 and the pitch seat 11 simultaneously perform pitch movements to achieve vertical height adjustment of the treatment bed 14, making it convenient for patients to get on and off the treatment bed 14. Among them, the single-motor dual-reducer structure of the three-axis joint 6 effectively guarantees the large load and high rigidity of the three-axis joint 6, and the third RV reducer 62 is built-in to achieve the compact structure and internal threading of the three-axis joint 6, effectively reducing the working noise. In addition, the first brake 65 of the three-axis joint 6 and the second brake 104 of the five-axis joint 10 effectively ensure the stability of the treatment bed 14 during the height adjustment process to ensure the safety of the patient. The treatment bed 14 is detachably mounted on the output end of the six-axis joint 12 through the mounting seat 13. Different treatment beds 14 can be replaced according to different treatment situations, thereby improving the applicability of the robotic arm. The treatment bed 14 can be flipped under the action of the four-axis joint 8, which facilitates the installation and replacement of the treatment bed 14.
[0063] The above description shows and describes the preferred embodiments of the utility model. As mentioned above, it should be understood that the utility model is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the utility model concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not deviate from the spirit and scope of the utility model, and should be within the scope of protection of the claims attached to the utility model.
Claims
1. A medical robot arm with large load and high rigidity, characterized by: The device comprises a base (1), a one-axis joint (2), a horizontal arm (3), a two-axis joint (4), a rotating arm (5), a three-axis joint (6), a pitch arm (7), a four-axis joint (8), a flip arm (9), a five-axis joint (10), a pitch seat (11) and a six-axis joint (12) which are arranged in sequence, wherein the output end of the six-axis joint (12) is detachably mounted on a treatment bed (14) via a mounting seat (13); The horizontal arm (3) is arranged horizontally and its two ends are respectively close to the base (1) and the rotating arm (5); the end of the horizontal arm (3) close to the base (1) is located above the base (1) and is connected to the base (1) in a positioning and rotational manner via a single-axis joint (2); the end of the horizontal arm (3) close to the rotating arm (5) is located below the rotating arm (5) and is connected to the rotating arm (5) in a positioning and rotational manner via a double-axis joint (4); the rotation axes of the single-axis joint (2) and the double-axis joint (4) are both arranged vertically; The side wall of the rotating arm (5) is rotatably connected to one end of the pitch arm (7) via a three-axis joint (6); the rotation axis of the three-axis joint (6) is horizontally arranged; the three-axis joint (6) is a single-motor dual-reducer structure and is provided with a first brake (65); when the two-axis joint (4) drives the rotating arm (5) to rotate until the length direction of the pitch arm (7) is parallel to the length direction of the horizontal arm (3), the rotation axis of the three-axis joint (6) is perpendicular to the length direction of the horizontal arm (3); One end of the pitch arm (7) away from the rotating arm (5) is rotatably connected to the flip arm (9) via a four-axis joint (8), and one end of the flip arm (9) away from the four-axis joint (8) is rotatably connected to the pitch seat (11) via a five-axis joint (10), and the five-axis joint (10) is provided with a second brake (104); the rotation axis of the four-axis joint (8) is arranged along the length direction of the pitch arm (7), the rotation axis of the five-axis joint (10) is parallel to the rotation axis of the three-axis joint (6), and the rotation axes of the three-axis joint (6), the four-axis joint (8) and the five-axis joint (10) are located in the same plane; The six-axis joint (12) is mounted for positioning and rotation at one end of the pitch seat (11) away from the five-axis joint (10); the rotation axis of the six-axis joint (12) is perpendicular to the rotation axis of the five-axis joint (10) and is always arranged vertically in the working state; The one-axis joint (2), the two-axis joint (4) and the six-axis joint (12) cooperate to realize the rotation and translation of the treatment bed (14) in the horizontal plane, the three-axis joint (6) and the five-axis joint (10) cooperate to realize the height adjustment of the treatment bed (14) in the vertical direction and the treatment bed (14) always remains horizontal, and the four-axis joint (8) realizes the flipping of the treatment bed (14).
2. A large-load and high-rigidity medical robot arm according to claim 1, characterized in that: The three-axis joint (6) comprises an input shaft (61), two third RV reducers (62) and a third servo motor (63); the input shaft (61) is coaxially arranged with the rotation axis of the three-axis joint (6); the first brake (65) is arranged at one end of the input shaft (61); the two third RV reducers (62) are symmetrically installed at both ends of the input shaft (61) and are coaxially arranged with the input shaft (61); the input shaft (61) is provided with two input gears (611) coaxially arranged with the input shaft and respectively meshing with the planetary gears of the two third RV reducers (62); the two The fixed ends of the third RV reducers (62) are far away from each other, the rotating arm (5) is connected to the fixed ends of the two third RV reducers (62) through two lugs, and the pitching arm (7) is connected to the output ends of the two third RV reducers (62) through a lug; the third servo motor (63) is arranged in the pitching arm (7) and is located on one side of the two third RV reducers (62); the output shaft of the third servo motor (63) is parallel to the input shaft (61) and a transmission assembly is provided between the output shaft of the third servo motor (63) and the input shaft (61), and the transmission assembly is located between the two third RV reducers (62).
3. A large-load and high-rigidity medical robot arm according to claim 2, characterized in that: The transmission assembly comprises a driving gear (631) detachably fixedly mounted on one end of an output shaft of a third servo motor (63) and a driven gear (64) detachably fixedly mounted on an input shaft (61); the driving gear (631) is coaxially arranged with the output shaft of the third servo motor (63); the driven gear (64) is coaxially arranged with the input shaft (61) and meshes with the driving gear (631); and protruding reinforcing step rings (632) are provided on both sides of the driving gear (631), and the reinforcing step rings (632) are coaxially arranged with the driving gear (631).
4. The large-load and high-rigidity medical robot arm according to claim 3, characterized in that: Mounting bearings (66) are installed between the two sides of the driven gear (64) and the input shaft (61), first support bearings (67) are installed between the two ends of the input shaft (61) and the fixed ends of the two third RV reducers (62), and second support bearings (68) are installed between the input shaft (61) and the output ends of the two third RV reducers (62).
5. The large-load and high-rigidity medical robot arm according to claim 3, characterized in that: The input shaft (61) is provided with an increasing diameter shaft (612) located between the driven gear (64) and the third RV reducer (62) away from the driving gear (631); the increasing diameter shaft (612) is coaxially arranged with the input shaft (61) and is integrally formed; and a third support bearing (69) is provided between the outer wall of one end of the increasing diameter shaft (612) away from the driven gear (64) and the lug of the pitch arm (7).
6. The large-load and high-rigidity medical robot arm according to claim 1, characterized in that: The one-axis joint (2) comprises a first RV reducer (21), a first rotating shaft (22) and a first servo motor (23) arranged in a horizontal arm (3); the fixed end of the first RV reducer (21) is connected to the base (1), and the output end is connected to the horizontal arm (3); the first RV reducer (21) is coaxially arranged with the first rotating shaft (22), the first servo motor (23) is arranged on one side of the first rotating shaft (22) and its output shaft is parallel to the first rotating shaft (22); the output shaft of the first servo motor (23) is vertically downward and gear-engaged with the first rotating shaft (22), and the first rotating shaft (22) and the planetary gear of the first RV reducer (21) are gear-engaged with each other for transmission.
7. The large-load and high-rigidity medical robot arm according to claim 1, characterized in that: The two-axis joint (4) comprises a second RV reducer (41), a second rotating shaft (42) and a second servo motor (43) arranged in the rotating arm (5); the fixed end of the second RV reducer (41) is connected to the horizontal arm (3), and the output end is connected to the rotating arm (5); the second RV reducer (41) and the second rotating shaft (42) are coaxially arranged, the second servo motor (43) is arranged on one side of the second rotating shaft (42) and its output shaft is parallel to the second rotating shaft (42); the output shaft of the second servo motor (43) is vertically downward and gear-engaged with the second rotating shaft (42), and the second rotating shaft (42) and the planetary gear of the second RV reducer (41) are gear-engaged with each other for transmission.
8. The large-load and high-rigidity medical robot arm according to claim 1, characterized in that: The four-axis joint (8) comprises a fourth RV reducer (81), a fourth rotating shaft (82) and a fourth servo motor (83); the fixed end of the fourth RV reducer (81) is connected to the pitch arm (7), and the output end is connected to the flip arm (9); the fourth RV reducer (81) and the fourth rotating shaft (82) are coaxially arranged; the fourth servo motor (83) is arranged in the pitch arm (7), and its output shaft is located on one side of the fourth rotating shaft (82) and is parallel to the fourth rotating shaft (82); the output shaft of the fourth servo motor (83) is gear-engaged with the fourth rotating shaft (82) for transmission, and the fourth rotating shaft (82) and the planetary gear of the fourth RV reducer (81) are gear-engaged with each other for transmission.
9. The large-load and high-rigidity medical robot arm according to claim 1, characterized in that: The five-axis joint (10) comprises a fifth RV reducer (101), a fifth rotating shaft (102) and a fifth servo motor (103); lugs are provided on both sides of the pitch seat (11), one of the lugs is connected to the output end of the fifth RV reducer (101), the other lug is rotationally connected to the flip arm (9), and the fixed end of the fifth RV reducer (101) is connected to the flip arm (9); the fifth RV reducer (101) is coaxially arranged with the fifth rotating shaft (102); The second brake (104) is arranged at one end of the fifth rotating shaft (102) close to the fixed end of the fifth RV reducer (101), the fifth servo motor (103) is arranged in the flip arm (9) and is located between the fifth rotating shaft (102) and the four-axis joint (8), the output shaft of the fifth servo motor (103) is parallel to the fifth rotating shaft (102) and the two are driven by a belt, and the fifth rotating shaft (102) and the planetary gear of the fifth RV reducer (101) are gear-engaged for transmission.
10. The large-load and high-rigidity medical robot arm according to claim 9, characterized in that: The six-axis joint (12) comprises a sixth RV reducer (121) located on a side of the pitch seat (11) away from the lug thereof and a sixth servo motor (122) located between two lugs of the pitch seat (11); in a working state, the sixth RV reducer (121) is located above the sixth servo motor (122); the sixth RV reducer (121) and the sixth servo motor (122) are coaxially arranged, and the output shaft of the sixth servo motor (122) and the planetary gear of the sixth RV reducer (121) are gear-engaged for transmission.